Cluster recognition and identifying objects, trouble using SHOTColor, help?

Question

I was using VFH for object detection, now I need some colour information about the point cloud that I will use, I don't know how to use SHOTColor properly, could you guys give me a light?

I used the following tutorial from the pointclouds.org: http://pointclouds.org/documentation/tutorials/vfh_recognition.php

And I tried to make a adapted version for the SHOTColor, using only the descriptor, here it is the reference: http://docs.pointclouds.org/1.7.1/structpcl_1_1_s_h_o_t1344.html

Hence, how can I make a comparison of the colour information and make a tree using the FLANN to compare and identify the objects?

Specifically, the rf[9] vector of pcl::SHOT1344, any help would be much appreciated

I'm trying to do it with real time recognition using rviz

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Originally posted by Nxzx on ROS Answers with karma: 9 on 2016-01-21

Post score: 0

Answer 1

You can check this. Application may be similar with pcl::SHOT352 descriptor.

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Originally posted by Akif with karma: 3561 on 2016-01-21

This answer was ACCEPTED on the original site

Post score: 1